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<div class="title">robust_kernel_factory.h</div>  </div>
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<a href="robust__kernel__factory_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">// g2o - General Graph Optimization</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">// Copyright (C) 2011 R. Kuemmerle, G. Grisetti, W. Burgard</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">// All rights reserved.</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">// Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">// modification, are permitted provided that the following conditions are</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">// met:</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">// * Redistributions of source code must retain the above copyright notice,</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">//   this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">// * Redistributions in binary form must reproduce the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">//   notice, this list of conditions and the following disclaimer in the</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">//   documentation and/or other materials provided with the distribution.</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">//</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">// IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">// TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">// PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">// TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">// PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">// LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="preprocessor">#ifndef G2O_ROBUST_KERNEL_FACTORY_H</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="preprocessor">#define G2O_ROBUST_KERNEL_FACTORY_H</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="preprocessor">#include &quot;../stuff/misc.h&quot;</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="preprocessor">#include &lt;string&gt;</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="preprocessor">#include &lt;map&gt;</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &lt;iostream&gt;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceg2o.html">g2o</a> {</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;  <span class="keyword">class </span>RobustKernel;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_robust_kernel_creator.html">   44</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html">AbstractRobustKernelCreator</a></div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;  {</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a>* <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html#a3022ab9279e52151d37f8cb4d1524d47">construct</a>() = 0;</div><div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="classg2o_1_1_abstract_robust_kernel_creator.html#af62964a80bc9f76d837df0913057f8f7">   51</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html#af62964a80bc9f76d837df0913057f8f7">~AbstractRobustKernelCreator</a>() { }</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  };</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00058"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_creator.html">   58</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_robust_kernel_creator.html">RobustKernelCreator</a> : <span class="keyword">public</span> <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html">AbstractRobustKernelCreator</a></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  {</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_creator.html#a6ab30adc017675641bd55502d7da0085">   61</a></span>&#160;      <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a>* <a class="code" href="classg2o_1_1_robust_kernel_creator.html#a6ab30adc017675641bd55502d7da0085">construct</a>() { <span class="keywordflow">return</span> <span class="keyword">new</span> T;}</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  };</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;</div><div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_factory.html">   67</a></span>&#160;  <span class="keyword">class  </span><a class="code" href="classg2o_1_1_robust_kernel_factory.html">RobustKernelFactory</a></div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  {</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;</div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">static</span> <a class="code" href="classg2o_1_1_robust_kernel_factory.html">RobustKernelFactory</a>* instance();</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> destroy();</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keywordtype">void</span> registerRobustKernel(<span class="keyword">const</span> std::string&amp; tag, <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html">AbstractRobustKernelCreator</a>* c);</div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      <span class="keywordtype">void</span> unregisterType(<span class="keyword">const</span> std::string&amp; tag);</div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <a class="code" href="classg2o_1_1_robust_kernel.html">RobustKernel</a>* <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html#a3022ab9279e52151d37f8cb4d1524d47">construct</a>(<span class="keyword">const</span> std::string&amp; tag) <span class="keyword">const</span>;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      <a class="code" href="classg2o_1_1_abstract_robust_kernel_creator.html">AbstractRobustKernelCreator</a>* creator(<span class="keyword">const</span> std::string&amp; tag) <span class="keyword">const</span>;</div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordtype">void</span> fillKnownKernels(std::vector&lt;std::string&gt;&amp; types) <span class="keyword">const</span>;</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">protected</span>:</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_factory.html#aa143765542cbf4738e2137d61517b218">  104</a></span>&#160;      <span class="keyword">typedef</span> std::map&lt;std::string, AbstractRobustKernelCreator*&gt;              <a class="code" href="classg2o_1_1_robust_kernel_factory.html#aa143765542cbf4738e2137d61517b218">CreatorMap</a>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      <a class="code" href="classg2o_1_1_robust_kernel_factory.html">RobustKernelFactory</a>();</div><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      ~<a class="code" href="classg2o_1_1_robust_kernel_factory.html">RobustKernelFactory</a>();</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;</div><div class="line"><a name="l00108"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_factory.html#af5f3cea409d3f18baa40da898d21424b">  108</a></span>&#160;      CreatorMap <a class="code" href="classg2o_1_1_robust_kernel_factory.html#af5f3cea409d3f18baa40da898d21424b">_creator</a>;     </div><div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classg2o_1_1_robust_kernel_factory.html#a598761493f11f50bee72b4799fab050e">  111</a></span>&#160;      <span class="keyword">static</span> <a class="code" href="classg2o_1_1_robust_kernel_factory.html">RobustKernelFactory</a>* <a class="code" href="classg2o_1_1_robust_kernel_factory.html#a598761493f11f50bee72b4799fab050e">factoryInstance</a>;</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  };</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt;</div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_robust_kernel_proxy.html">  115</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classg2o_1_1_register_robust_kernel_proxy.html">RegisterRobustKernelProxy</a></div><div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  {</div><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    <span class="keyword">public</span>:</div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_robust_kernel_proxy.html#a9eb5309c892d96d5cc5b3d7a15670818">  118</a></span>&#160;      <a class="code" href="classg2o_1_1_register_robust_kernel_proxy.html#a9eb5309c892d96d5cc5b3d7a15670818">RegisterRobustKernelProxy</a>(<span class="keyword">const</span> std::string&amp; name) : _name(name)</div><div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;      {</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="classg2o_1_1_robust_kernel_factory.html#a9cc4361620f8d7269ad9774d3aba2fc0">RobustKernelFactory::instance</a>()-&gt;<a class="code" href="classg2o_1_1_robust_kernel_factory.html#a71de3f228b58ae4a2dd965cc2cd8ff95">registerRobustKernel</a>(_name, <span class="keyword">new</span> <a class="code" href="classg2o_1_1_robust_kernel_creator.html">RobustKernelCreator&lt;T&gt;</a>());</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      }</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;</div><div class="line"><a name="l00123"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_robust_kernel_proxy.html#a01e3078be667d1faaf2046da6c219eb7">  123</a></span>&#160;      <a class="code" href="classg2o_1_1_register_robust_kernel_proxy.html#a01e3078be667d1faaf2046da6c219eb7">~RegisterRobustKernelProxy</a>()</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      {</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="classg2o_1_1_robust_kernel_factory.html#a9cc4361620f8d7269ad9774d3aba2fc0">RobustKernelFactory::instance</a>()-&gt;<a class="code" href="classg2o_1_1_robust_kernel_factory.html#af3b0dac653627b5f87c68d4180b87475">unregisterType</a>(_name);</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;      }</div><div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;</div><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">private</span>:</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classg2o_1_1_register_robust_kernel_proxy.html#af88f8066f09024c0a94c90d1b99bf1c4">  129</a></span>&#160;      std::string <a class="code" href="classg2o_1_1_register_robust_kernel_proxy.html#af88f8066f09024c0a94c90d1b99bf1c4">_name</a>;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  };</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="preprocessor">#if defined _MSC_VER &amp;&amp; defined G2O_SHARED_LIBS</span></div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;<span class="preprocessor">#  define G2O_ROBUST_KERNEL_FACTORY_EXPORT __declspec(dllexport)</span></div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="preprocessor">#  define G2O_ROBUST_KERNEL_FACTORY_IMPORT __declspec(dllimport)</span></div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;<span class="preprocessor">#else</span></div><div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="robust__kernel__factory_8h.html#a2197d9563f6d29b47971e4ad16c2ffcf">  136</a></span>&#160;<span class="preprocessor">#  define G2O_ROBUST_KERNEL_FACTORY_EXPORT</span></div><div class="line"><a name="l00137"></a><span class="lineno"><a class="line" href="robust__kernel__factory_8h.html#a13f6eb912b19652422d3e3e7e7c41c14">  137</a></span>&#160;<span class="preprocessor">#  define G2O_ROBUST_KERNEL_FACTORY_IMPORT</span></div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;<span class="preprocessor">#endif</span></div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="comment">// These macros are used to automate registering of robust kernels and forcing linkage</span></div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="robust__kernel__factory_8h.html#a9ead0decaafe0a95f92d96669444d17e">  141</a></span>&#160;<span class="preprocessor">#define G2O_REGISTER_ROBUST_KERNEL(name, classname) \</span></div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_ROBUST_KERNEL_FACTORY_EXPORT g2o_robust_kernel_##classname(void) {} \</span></div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;<span class="preprocessor">    static g2o::RegisterRobustKernelProxy&lt;classname&gt; g_robust_kernel_proxy_##classname(#name);</span></div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;</div><div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="robust__kernel__factory_8h.html#ab56433f8002af3facebfa87587af842f">  145</a></span>&#160;<span class="preprocessor">#define G2O_USE_ROBUST_KERNEL(classname) \</span></div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;<span class="preprocessor">    extern &quot;C&quot; void G2O_ROBUST_KERNEL_FACTORY_IMPORT g2o_robust_kernel_##classname(void); \</span></div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;<span class="preprocessor">    static g2o::TypeFunctionProxy proxy_##classname(g2o_robust_kernel_##classname);</span></div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;} <span class="comment">// end namespace g2o</span></div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;<span class="preprocessor">#endif</span></div><div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_a9cc4361620f8d7269ad9774d3aba2fc0"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#a9cc4361620f8d7269ad9774d3aba2fc0">g2o::RobustKernelFactory::instance</a></div><div class="ttdeci">static RobustKernelFactory * instance()</div><div class="ttdoc">return the instance </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.cpp:50</div></div>
<div class="ttc" id="classg2o_1_1_register_robust_kernel_proxy_html_a01e3078be667d1faaf2046da6c219eb7"><div class="ttname"><a href="classg2o_1_1_register_robust_kernel_proxy.html#a01e3078be667d1faaf2046da6c219eb7">g2o::RegisterRobustKernelProxy::~RegisterRobustKernelProxy</a></div><div class="ttdeci">~RegisterRobustKernelProxy()</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:123</div></div>
<div class="ttc" id="classg2o_1_1_register_robust_kernel_proxy_html_af88f8066f09024c0a94c90d1b99bf1c4"><div class="ttname"><a href="classg2o_1_1_register_robust_kernel_proxy.html#af88f8066f09024c0a94c90d1b99bf1c4">g2o::RegisterRobustKernelProxy::_name</a></div><div class="ttdeci">std::string _name</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:129</div></div>
<div class="ttc" id="classg2o_1_1_register_robust_kernel_proxy_html_a9eb5309c892d96d5cc5b3d7a15670818"><div class="ttname"><a href="classg2o_1_1_register_robust_kernel_proxy.html#a9eb5309c892d96d5cc5b3d7a15670818">g2o::RegisterRobustKernelProxy::RegisterRobustKernelProxy</a></div><div class="ttdeci">RegisterRobustKernelProxy(const std::string &amp;name)</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:118</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_a71de3f228b58ae4a2dd965cc2cd8ff95"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#a71de3f228b58ae4a2dd965cc2cd8ff95">g2o::RobustKernelFactory::registerRobustKernel</a></div><div class="ttdeci">void registerRobustKernel(const std::string &amp;tag, AbstractRobustKernelCreator *c)</div><div class="ttdoc">register a tag for a specific creator </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.cpp:59</div></div>
<div class="ttc" id="classg2o_1_1_abstract_robust_kernel_creator_html_a3022ab9279e52151d37f8cb4d1524d47"><div class="ttname"><a href="classg2o_1_1_abstract_robust_kernel_creator.html#a3022ab9279e52151d37f8cb4d1524d47">g2o::AbstractRobustKernelCreator::construct</a></div><div class="ttdeci">virtual RobustKernel * construct()=0</div><div class="ttdoc">create a hyper graph element. </div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_a598761493f11f50bee72b4799fab050e"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#a598761493f11f50bee72b4799fab050e">g2o::RobustKernelFactory::factoryInstance</a></div><div class="ttdeci">static RobustKernelFactory * factoryInstance</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:111</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html">g2o::RobustKernelFactory</a></div><div class="ttdoc">create robust kernels based on their human readable name </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:67</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_af3b0dac653627b5f87c68d4180b87475"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#af3b0dac653627b5f87c68d4180b87475">g2o::RobustKernelFactory::unregisterType</a></div><div class="ttdeci">void unregisterType(const std::string &amp;tag)</div><div class="ttdoc">unregister a tag for a specific creator </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.cpp:70</div></div>
<div class="ttc" id="classg2o_1_1_abstract_robust_kernel_creator_html_af62964a80bc9f76d837df0913057f8f7"><div class="ttname"><a href="classg2o_1_1_abstract_robust_kernel_creator.html#af62964a80bc9f76d837df0913057f8f7">g2o::AbstractRobustKernelCreator::~AbstractRobustKernelCreator</a></div><div class="ttdeci">virtual ~AbstractRobustKernelCreator()</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:51</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_creator_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel_creator.html">g2o::RobustKernelCreator</a></div><div class="ttdoc">templatized creator class which creates graph elements </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:58</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_af5f3cea409d3f18baa40da898d21424b"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#af5f3cea409d3f18baa40da898d21424b">g2o::RobustKernelFactory::_creator</a></div><div class="ttdeci">CreatorMap _creator</div><div class="ttdoc">look-up map for the existing creators </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:108</div></div>
<div class="ttc" id="namespaceg2o_html"><div class="ttname"><a href="namespaceg2o.html">g2o</a></div><div class="ttdef"><b>Definition:</b> base_binary_edge.h:37</div></div>
<div class="ttc" id="classg2o_1_1_register_robust_kernel_proxy_html"><div class="ttname"><a href="classg2o_1_1_register_robust_kernel_proxy.html">g2o::RegisterRobustKernelProxy</a></div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:115</div></div>
<div class="ttc" id="classg2o_1_1_abstract_robust_kernel_creator_html"><div class="ttname"><a href="classg2o_1_1_abstract_robust_kernel_creator.html">g2o::AbstractRobustKernelCreator</a></div><div class="ttdoc">Abstract interface for allocating a robust kernel. </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:44</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_html"><div class="ttname"><a href="classg2o_1_1_robust_kernel.html">g2o::RobustKernel</a></div><div class="ttdoc">base for all robust cost functions </div><div class="ttdef"><b>Definition:</b> robust_kernel.h:51</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_factory_html_aa143765542cbf4738e2137d61517b218"><div class="ttname"><a href="classg2o_1_1_robust_kernel_factory.html#aa143765542cbf4738e2137d61517b218">g2o::RobustKernelFactory::CreatorMap</a></div><div class="ttdeci">std::map&lt; std::string, AbstractRobustKernelCreator * &gt; CreatorMap</div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:104</div></div>
<div class="ttc" id="classg2o_1_1_robust_kernel_creator_html_a6ab30adc017675641bd55502d7da0085"><div class="ttname"><a href="classg2o_1_1_robust_kernel_creator.html#a6ab30adc017675641bd55502d7da0085">g2o::RobustKernelCreator::construct</a></div><div class="ttdeci">RobustKernel * construct()</div><div class="ttdoc">create a hyper graph element. </div><div class="ttdef"><b>Definition:</b> robust_kernel_factory.h:61</div></div>
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